CN209327579U - A kind of service robot autonomous navigation chassis system - Google Patents
A kind of service robot autonomous navigation chassis system Download PDFInfo
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- CN209327579U CN209327579U CN201821933007.9U CN201821933007U CN209327579U CN 209327579 U CN209327579 U CN 209327579U CN 201821933007 U CN201821933007 U CN 201821933007U CN 209327579 U CN209327579 U CN 209327579U
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Abstract
The utility model discloses a kind of service robot autonomous navigation chassis systems, including processing module, environment monitoring module, velocity measuring module, locating module, memory module, walking module, alarm module, the processing module respectively with the environment monitoring module, the velocity measuring module, the locating module, the memory module, the walking module and the alarm module are electrically connected, it is monitored by temperature and humidity of the temperature-humidity monitoring unit to external environment, when external environment is not suitable for using robot, alarm module can sound an alarm, to prevent external environment from damaging to robot, and the monitoring unit that breaks the barriers is monitored the object carried out on route, when carrying out on route, there are when barrier, alarm module sounds an alarm, robot is avoided to hit with object.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of service robot autonomous navigation chassis system.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
With the development of the times, scientific and technological progress, robot using more and more extensive, in service industry, robot
Utilization rate also gradually increases, and still, common robot when in use, is easy to collide with extraneous object in the market, from
And be damaged, moreover, robot interior contains, there are many different types of electronic equipments, and extraneous temperature and humidity can be to machine
Device people damages.
Summary of the invention
The purpose of the present invention is to provide a kind of service robot autonomous navigation chassis system, robot and outer can be avoided
Boundary's object collides, and when external environment is not suitable for using robot, can sound an alarm, robot is avoided to be damaged,
To solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme: a kind of service robot autonomous navigation chassis system,
Including processing module, environment monitoring module, velocity measuring module, locating module, memory module, walking module, alarm module, institute
State processing module respectively with the environment monitoring module, the velocity measuring module, the locating module, the memory module,
The walking module and the alarm module are electrically connected；
The environment monitoring module includes temperature-humidity monitoring unit and barrier monitoring unit, the temperature-humidity monitoring unit
Temperature and humidity in external environment can be monitored, and the signal monitored is transferred to processing module, the barrier prison
The route of traveling can be monitored by surveying unit, when occurring object in travelling route, can be passed the object signal monitored
It is defeated by processing module；
The velocity measuring module is used to detect the movement speed on chassis, and the velocity information that will test is transferred to processing
Module；
The locating module is GPS receiver, and the GPS receiver is embedded in robot center chassis, the GPS receiver
Device can receive the positioning signal of GPS satellite transmission, and the positioning signal that GPS satellite is sent is transferred to place in a manner of data
Manage module；
The memory module includes at least two groups storage unit, wherein one group of storage unit is used to back up system,
The data that other storage units are used to acquire environment monitoring module store；
The walking module includes left electric-motor drive unit and right electric-motor drive unit；
The left electric-motor drive unit is made of left motor driver and revolver driving motor, the right electric-motor drive unit
It is made of right motor driver and right wheel driving motor, processing module controls revolver driving by controlling left motor driver
Motor, processing module control right wheel driving motor by controlling right motor driver；
The alarm module includes environment alarm unit and acceleration alert unit, by processing module to environment monitoring module
The external environmental signals of acquisition are handled, and extraneous environmental signal is processed into the mode of data, and the data that will be handled out
It is compared with the data of setting, when the range of treated data have exceeded setting data, processing module will be handled out
Data are transferred to environment alarm unit and sound an alarm, after environment alarm unit receives data by processing module to speed monitoring
The external environmental signals of module acquisition are handled, and speed signal is processed into the mode of data, and by the data handled out with
The data of setting compare, when the data handled out have exceeded the range of setting data, the data that processing module will be handled out
Acceleration alert unit is transferred to sound an alarm after acceleration alert unit receives data.
Preferably, the processing module is equipped with wireless receiver, and the wireless receiver is for receiving remote wireless control
Signal.
Preferably, the barrier monitoring unit includes laser sensor and proximity sensor, and laser sensor is able to achieve
Contactless telemeasurement can measure remote object, and when object proximity chassis, proximity sensor can be felt
Object should be arrived, and the signal sensed is transferred to processing module, processing module handles the signal received, thus will
Signal is converted into data, then will handle out data and compares with the data of setting, when the data received are beyond setting
The range of data, alarm module can sound an alarm.
Preferably, the velocity measuring module is velocity sensor, which is able to detect the mobile speed on chassis
Degree, and the speed signal that will test out is transferred to processing module, processing module handles speed signal, and speed signal is turned
The mode of data is turned to, then compares the data handled out and setting data, when the data handled out are beyond setting number
According to range when, the data handled out are transferred to acceleration alert unit by processing module, after acceleration alert unit receives signal
It can sound an alarm.
Preferably, the left motor driver and right motor driver are the driver of same model.
Preferably, the revolver driving motor and right wheel driving motor are stepper motor, the revolver driving motor and
Right wheel driving motor model is identical.
Preferably, the processing module is 32 8-digit microcontrollers, using STM32F103ZET6 singlechip chip.
Preferably, the temperature-humidity monitoring unit includes temperature sensor and humidity sensor, and the temperature sensor is used
In the temperature of detection external environment, the humidity sensor is used to detect the humidity of external environment.
Preferably, the environment alarm unit includes flash alarm and phonetic alarm, and the flash alarm with
Temperature sensor is corresponding, and the phonetic alarm is corresponding with humidity sensor.
Preferably, the acceleration alert unit is combined aural and visual alarm.
Compared with prior art, the beneficial effects of the present invention are: by temperature-humidity monitoring unit to the warm and humid of external environment
Degree is monitored, and when external environment is not suitable for using robot, alarm module can be sounded an alarm, to prevent external environment
Robot is damaged, and the monitoring unit that breaks the barriers is monitored the object carried out on route, when progress route
On there are when barrier, alarm module sounds an alarm, and robot is avoided to hit with object.
Detailed description of the invention
Fig. 1 is electric connection block diagram of the invention；
Fig. 2 is environment monitoring module schematic diagram of the invention；
Fig. 3 is temperature-humidity monitoring cell schematics of the invention；
Fig. 4 is barrier monitoring unit schematic diagram of the invention；
Fig. 5 is alarm module schematic diagram of the invention；
Fig. 6 is temperature sensor circuit figure of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Herein
Described specific embodiment is only used to explain the present invention, is not intended to limit the present invention.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this hair
The range of bright protection.
The present invention provides a kind of service robot autonomous navigation chassis system as shown in Figs. 1-5, including processing module,
Environment monitoring module, velocity measuring module, locating module, memory module, walking module, alarm module, the processing module point
Not with the environment monitoring module, the velocity measuring module, the locating module, the memory module, the walking module
It is electrically connected with the alarm module；
The environment monitoring module includes temperature-humidity monitoring unit and barrier monitoring unit, the temperature-humidity monitoring unit
Temperature and humidity in external environment can be monitored, and the signal monitored is transferred to processing module, the barrier prison
The route of traveling can be monitored by surveying unit, when occurring object in travelling route, can be passed the object signal monitored
It is defeated by processing module；
The velocity measuring module is used to detect the movement speed on chassis, and the velocity information that will test is transferred to processing
Module；
The locating module is GPS receiver, and the GPS receiver is embedded in robot center chassis, the GPS receiver
Device can receive the positioning signal of GPS satellite transmission, and the positioning signal that GPS satellite is sent is transferred to place in a manner of data
Manage module；
The GPS receiver is SE4150L type double antenna GPS receiver, is encapsulated, is had using the high 4mm × 4mm of downside
Multidigit output function, operating voltage range are 217V~316V, have the low standby current less than 10uA, in addition, SE4150L type
The Digital I/O and voltage of double antenna GPS receiver by special design, can all work in the voltage range of 116V~316V；
The memory module includes at least two groups storage unit, wherein one group of storage unit is used to back up system,
The data that other storage units are used to acquire environment monitoring module store；
The walking module includes left electric-motor drive unit and right electric-motor drive unit；
The left electric-motor drive unit is made of left motor driver and revolver driving motor, the right electric-motor drive unit
It is made of right motor driver and right wheel driving motor, processing module controls revolver driving by controlling left motor driver
Motor, processing module control right wheel driving motor by controlling right motor driver；
The alarm module includes environment alarm unit and acceleration alert unit, by processing module to environment monitoring module
The external environmental signals of acquisition are handled, and extraneous environmental signal is processed into the mode of data, and the data that will be handled out
It is compared with the data of setting, when the range of treated data have exceeded setting data, processing module will be handled out
Data are transferred to environment alarm unit and sound an alarm, after environment alarm unit receives data by processing module to speed monitoring
The external environmental signals of module acquisition are handled, and speed signal is processed into the mode of data, and by the data handled out with
The data of setting compare, when the data handled out have exceeded the range of setting data, the data that processing module will be handled out
Acceleration alert unit is transferred to sound an alarm after acceleration alert unit receives data.
Specifically, the processing module is equipped with wireless receiver, the wireless receiver is for receiving remote wireless control
Signal.
Specifically, the barrier monitoring unit includes laser sensor and proximity sensor, laser sensor is able to achieve
Contactless telemeasurement can measure remote object, and when object proximity chassis, proximity sensor can be felt
Object should be arrived, and the signal sensed is transferred to processing module, processing module handles the signal received, thus will
Signal is converted into data, then will handle out data and compares with the data of setting, when the data received are beyond setting
The range of data, alarm module can sound an alarm.
Specifically, the velocity measuring module is velocity sensor, which is able to detect the mobile speed on chassis
Degree, and the speed signal that will test out is transferred to processing module, processing module handles speed signal, and speed signal is turned
The mode of data is turned to, then compares the data handled out and setting data, when the data handled out are beyond setting number
According to range when, the data handled out are transferred to acceleration alert unit by processing module, after acceleration alert unit receives signal
It can sound an alarm.
Specifically, the left motor driver and right motor driver are the driver of same model.
Specifically, the revolver driving motor and right wheel driving motor are stepper motor, the revolver driving motor and
Right wheel driving motor model is identical.
Specifically, the processing module is 32 8-digit microcontrollers, using STM32F103ZET6 singlechip chip.
Specifically, the temperature-humidity monitoring unit includes temperature sensor and humidity sensor, the temperature sensor is used
In the temperature of detection external environment, the humidity sensor is used to detect the humidity of external environment.
Specifically, the environment alarm unit includes flash alarm and phonetic alarm, and the flash alarm with
Temperature sensor is corresponding, and the phonetic alarm is corresponding with humidity sensor.
Specifically, the acceleration alert unit is combined aural and visual alarm, which can be simultaneously emitted by work
Sound and light.
The laser sensor is CONTROL 3D linear laser sensor, using Integrated design technique, encapsulation and anti-
Interference is strong；It is small to use environment requirement, in the severe industrial environments such as low illumination, intense light irradiation, high temperature, strong dust particles
It can be used；Anti-pressure ability is strong, under water, the same normal use in high-altitude, the information collection of CONTROL 3D linear laser sensor
Frequency reaches as high as 4000Hz, and degree of protection IP65, information collection efficiency is fast, Image Acquisition central point line width be up to 100mm,
Line height is up to 240mm, can satisfy the information collection demand in each field.
The velocity sensor is CV-YD-021 piezoelectric velocity sensor, and sensitivity is 4 ± 5%mV/mms-1, work
Make voltage range in 18V~24V, operating current is 2~10mA.
The temperature sensor be CMOS temperature transmitter, -30 DEG C of CMOS temperature transmitter temperature range~125 DEG C,
Temperature coefficient is 5.9mV/ DEG C, and the advantages of CMOS temperature transmitter includes that small in size, at low cost, performance is high.
The humidity sensor is HM1500 humidity sensor, and HM1500 is a kind of Linear voltage output formula integrated humidity biography
Sensor, it is the voltage output humidity module based on HSll01/HSll01LF, and internal reference oscillation circuit provides benchmark vibration
Signal is swung, the capacitor of humidity sensor functions as the charge and discharge electric device of oscillating circuit by access sensor oscillator circuit,
Generate another way oscillator signal, the difference of frequency is converted into voltage signal by comparing by this two paths of signals, be low pass filtering and
After gain amplification disposal output and the proportional voltage signal of humidity, advantage be with high reliability and long-time stability,
When 5VDC powers, the corresponding output 1~4VDC linear voltage of 0~100%RH, and it is newly extremely low for the dependence of temperature.
In summary: it is handled by the external environmental signals that processing module acquires environment monitoring module, it will be extraneous
Environmental signal be processed into the mode of data, and the data of the data handled out and setting are compared, when treated number
When according to the range for having exceeded setting data, the data handled out are transferred to environment alarm unit by processing module, and environment alarm is single
It after member receives data, sounds an alarm, operator moves the robot into suitable environment by observation alarm, passes through place
The external environmental signals that reason module acquires speed monitoring module are handled, and speed signal is processed into the mode of data, and
The data of the data handled out and setting are compared, when the data handled out have exceeded the range of setting data, processing mould
The data handled out are transferred to acceleration alert unit after acceleration alert unit receives data and sounded an alarm by block, barrier monitoring
Unit can be monitored the route of traveling, when occurring object in travelling route, can transmit the object signal monitored
To processing module, signal is transferred to alarm module by processing module in a manner of data, to sound an alarm, operator passes through
Alarm is observed, changes the moving direction of robot, robot is avoided to hit with object.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of service robot autonomous navigation chassis system, which is characterized in that including processing module, environment monitoring module, speed
Spend detection module, locating module, memory module, walking module, alarm module, the processing module respectively with the environmental monitoring
Module, the velocity measuring module, the locating module, the memory module, the walking module and alarm module electricity
Property connection；
The environment monitoring module includes temperature-humidity monitoring unit and barrier monitoring unit, and the temperature-humidity monitoring unit can
Temperature and humidity in external environment is monitored, and the signal monitored is transferred to processing module, the barrier monitoring is single
Member can be monitored the route of traveling, when occurring object in travelling route, can be transferred to the object signal monitored
Processing module；
The velocity measuring module is used to detect the movement speed on chassis, and the velocity information that will test is transferred to processing mould
Block；
The locating module is GPS receiver, and the GPS receiver is embedded in robot center chassis, the GPS receiver energy
The positioning signal that GPS satellite is sent enough is received, and the positioning signal that GPS satellite is sent is transferred to processing mould in a manner of data
Block；
The memory module includes at least two groups storage unit, wherein one group of storage unit is for backing up system, it is other
The data that storage unit is used to acquire environment monitoring module store；
The walking module includes left electric-motor drive unit and right electric-motor drive unit；
The left electric-motor drive unit is made of left motor driver and revolver driving motor, and the right electric-motor drive unit is by the right side
Motor driver and right wheel driving motor composition, processing module control revolver driving electricity by controlling left motor driver
Machine, processing module control right wheel driving motor by controlling right motor driver；
The alarm module includes environment alarm unit and acceleration alert unit, is acquired by processing module to environment monitoring module
External environmental signals handled, extraneous environmental signal is processed into the mode of data, and by the data handled out with set
Fixed data compare, when the range of treated data have exceeded setting data, data that processing module will be handled out
Environment alarm unit is transferred to sound an alarm, after environment alarm unit receives data by processing module to speed monitoring module
The external environmental signals of acquisition are handled, and speed signal is processed into the mode of data, and by the data handled out and setting
Data compare, when the data handled out have exceeded setting data range, processing module by the data handled out transmit
After giving acceleration alert unit, acceleration alert unit to receive data, sound an alarm.
2. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the processing mould
Block is equipped with wireless receiver, and the wireless receiver is for receiving remote wireless control signal.
3. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the barrier
Monitoring unit includes laser sensor and proximity sensor, and laser sensor is able to achieve contactless telemeasurement, can be to remote
The object of distance measures, and when object proximity chassis, proximity sensor can sense object, and the signal that will be sensed
It is transferred to processing module, processing module handles the signal received, so that data are converted the signal to, it then will processing
Data are compared with the data of setting out, and when range of the data received beyond setting data, alarm module can be sent out
Alarm out.
4. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the speed inspection
Survey module is velocity sensor, which is able to detect the movement speed on chassis, and the speed signal that will test out passes
It is defeated by processing module, processing module handles speed signal, converts speed signal to the mode of data, then will processing
Data out are compared with setting data, and when range of the data handled out beyond setting data, processing module will be handled
Data out are transferred to acceleration alert unit, and acceleration alert unit can sound an alarm after receiving signal.
5. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the left motor
Driver and right motor driver are the driver of same model.
6. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the revolver drives
Dynamic motor and right wheel driving motor are stepper motor, and the revolver driving motor is identical with right wheel driving motor model.
7. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the processing mould
Block is 32 8-digit microcontrollers, using STM32F103ZET6 singlechip chip.
8. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the temperature and humidity
Monitoring unit includes temperature sensor and humidity sensor, and the temperature sensor is used to detect the temperature of external environment, described
Humidity sensor is used to detect the humidity of external environment.
9. a kind of service robot autonomous navigation chassis system according to claim 8, it is characterised in that: the environment report
Alert unit includes flash alarm and phonetic alarm, and the flash alarm is corresponding with temperature sensor, the voice reporting
Alert device is corresponding with humidity sensor.
10. a kind of service robot autonomous navigation chassis system according to claim 1, it is characterised in that: the speed
Alarm unit is combined aural and visual alarm.
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| CN201821933007.9U CN209327579U (en) | 2018-11-22 | 2018-11-22 | A kind of service robot autonomous navigation chassis system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821933007.9U CN209327579U (en) | 2018-11-22 | 2018-11-22 | A kind of service robot autonomous navigation chassis system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358346A (en) * | 2018-11-22 | 2019-02-19 | 苏州米机器人有限公司 | A kind of service robot autonomous navigation chassis system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358346A (en) * | 2018-11-22 | 2019-02-19 | 苏州米机器人有限公司 | A kind of service robot autonomous navigation chassis system |
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